Point Cloud Registration on ScanNet 50-frame separation (test)
82.9Rotation Acc (5°)Generative FCGF
Evaluation results
| Method | Links | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Generative FCGFModel Variant=SD2025.12 | 82.9 | 90 | 94.4 | 8.4 | 1.6 | 56.4 | 73 | 82.7 | 21.7 | 4.1 | 67.7 | 80.9 | 83.7 | 66 | 0.4 | |
| Generative FCGFModel Variant=DINOv22025.12 | 81 | 86.2 | 89.4 | 16.5 | 1.4 | 57.3 | 72.6 | 80.9 | 33.9 | 4 | 68.9 | 79.5 | 81.5 | 97.4 | 0.3 | |
| FCGF2025.12 | 78.9 | 84.2 | 87.5 | 19.4 | 1.5 | 55.3 | 70.7 | 79.7 | 37.8 | 4.3 | 67.3 | 78.2 | 80.3 | 100.7 | 0.4 | |
| Generative GeoTransModel Variant=SD2025.12 | 77.2 | 84 | 89.9 | 16.5 | 1.8 | 51.3 | 68.7 | 78.4 | 35.6 | 4.8 | 65.2 | 76.1 | 78.7 | 71 | 0.4 | |
| Generative GeoTransModel Variant=DINOv22025.12 | 74.3 | 81 | 87.6 | 19.7 | 1.9 | 50.8 | 67.4 | 76 | 41.8 | 4.9 | 63.7 | 73.9 | 76.2 | 86.2 | 0.4 | |
| RegTR2025.12 | 72.5 | 83.8 | 94.1 | 10.2 | 2.3 | 44.3 | 65.6 | 80 | 27.7 | 5.8 | 61 | 76.6 | 80.9 | 54 | 0.5 | |
| GeoTrans2025.12 | 71.5 | 78 | 83.4 | 26.2 | 2 | 48.4 | 65.2 | 74.6 | 51.9 | 5.2 | 62 | 72.5 | 75 | 97.3 | 0.5 | |
| Generative PredatorModel Variant=SD2025.12 | 70.7 | 81.3 | 88.7 | 17 | 2.8 | 33 | 59.4 | 73.3 | 36.6 | 7.5 | 54.7 | 70.8 | 74.2 | 72.5 | 0.8 | |
| RoITrPose Estimator=RANSAC-50k2025.12 | 70 | 77.5 | 83.7 | 24.1 | 2.3 | 40.3 | 62.3 | 75.1 | 45.6 | 6.5 | 58.8 | 72.4 | 75.4 | 94.1 | 0.6 | |
| Generative PredatorModel Variant=DINOv22025.12 | 67 | 78 | 87.2 | 19 | 3 | 30.7 | 56 | 70.3 | 41.4 | 8.1 | 52 | 67.8 | 71.3 | 79.2 | 0.9 | |
| Predator2025.12 | 64.3 | 75.2 | 82.6 | 26.3 | 3.2 | 30.1 | 54.8 | 69.2 | 48.7 | 8.4 | 50.8 | 66.9 | 70.6 | 93.2 | 1 | |
| LepardPose Estimator=RANSAC-50k2025.12 | 63.3 | 75.5 | 84.1 | 24.9 | 3.3 | 31.3 | 56.4 | 72.3 | 48.4 | 8.1 | 51.6 | 69.1 | 73 | 89.2 | 0.9 | |
| FPFHPose Estimator=RANSAC-50k2025.12 | 41.4 | 56.7 | 73.3 | 39.2 | 7.1 | 17.5 | 35.1 | 50.9 | 79.5 | 23.5 | 32.3 | 48 | 53 | 159.6 | 6.5 |